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http://dx.doi.org/10.5302/J.ICROS.2012.18.3.193

The Method of Vertical Obstacle Negotiation Inspired from a Centipede  

Yoon, Byung-Ho (Korea Advanced Institute of Science and Technology)
Chung, Tae-Il (Samsung Heavy Industries)
Koh, Doo-Yeol (Korea Advanced Institute of Science and Technology)
Kim, Soo-Hyun (Korea Advanced Institute of Science and Technology)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.3, 2012 , pp. 193-200 More about this Journal
Abstract
Mobility is one of the most important issues for search and rescue robots. To increase mobility for small size robot we have focused on the mechanism and algorithm inspired from centipede. In spite of small size, using many legs and flexible long body, centipede can overcome high obstacles and move in rough terrains stably. This research focused on those points and imitated their legs and body that are good for obstacle negotiation. Based on similarity of a centipede's legs and tracks, serially connected tracks are used for climbing obstacles higher than the robot's height. And a centipede perceives environments using antennae on its head instead of eyes. Inspired from that, 3 IR sensors are attached on the front, top and bottom of the first module to imitate the antenna. Using the information gotten from the sensors, the robot decides next behavior automatically. In experiments, the robot can climb up to 45 cm height vertical wall and it is 600 % of the robot's height and 58 % of the robot's length.
Keywords
inspired-robot; centipede; obstacle negotiation; bio-mimetic;
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